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<div class="title">mesh_source.h</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * ply_source.h</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: Mar 9, 2012</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *      Author: aitor</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#ifndef REC_FRAMEWORK_MESH_SOURCE_H_</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define REC_FRAMEWORK_MESH_SOURCE_H_</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/3d_rec_framework/pc_source/source.h&gt;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/render_views_tesselated_sphere.h&gt;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;pcl/io/io.h&gt;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;pcl/io/pcd_io.h&gt;</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/3d_rec_framework/utils/vtk_model_sampling.h&gt;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;boost/function.hpp&gt;</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &lt;vtkTransformPolyDataFilter.h&gt;</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;{</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <span class="keyword">namespace </span>rec_3d_framework</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  {</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160; </div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_mesh_source.html">   30</a></span>&#160;      <span class="keyword">class </span><a class="code" href="classpcl_1_1rec__3d__framework_1_1_mesh_source.html">MeshSource</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_source.html">Source</a>&lt;PointInT&gt;</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;      {</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_source.html">Source&lt;PointInT&gt;</a> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_source.html">SourceT</a>;</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_model.html">Model&lt;PointInT&gt;</a> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_model.html">ModelT</a>;</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;        <span class="keyword">using</span> SourceT::path_;</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;        <span class="keyword">using</span> SourceT::models_;</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;        <span class="keyword">using</span> SourceT::createTrainingDir;</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;        <span class="keyword">using</span> SourceT::getModelsInDirectory;</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;        <span class="keyword">using</span> SourceT::model_scale_;</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;        <span class="keywordtype">int</span> tes_level_;</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;        <span class="keywordtype">int</span> resolution_;</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;        <span class="keywordtype">float</span> radius_sphere_;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;        <span class="keywordtype">float</span> view_angle_;</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;        <span class="keywordtype">bool</span> gen_organized_;</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;        boost::function&lt;bool</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        (<span class="keyword">const</span> Eigen::Vector3f &amp;)&gt; campos_constraints_func_;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        <span class="keyword">using</span> SourceT::setFilterDuplicateViews;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;        <a class="code" href="classpcl_1_1rec__3d__framework_1_1_mesh_source.html">MeshSource</a> () :</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        <a class="code" href="classpcl_1_1rec__3d__framework_1_1_source.html">SourceT</a> ()</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;        {</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;          gen_organized_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        }</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;        setTesselationLevel (<span class="keywordtype">int</span> lev)</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        {</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;          tes_level_ = lev;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        }</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        setCamPosConstraints (boost::function&lt;<span class="keywordtype">bool</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        (<span class="keyword">const</span> Eigen::Vector3f &amp;)&gt; &amp; bb)</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        {</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;          campos_constraints_func_ = bb;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        }</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        setResolution (<span class="keywordtype">int</span> res)</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        {</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;          resolution_ = res;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        }</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        setRadiusSphere (<span class="keywordtype">float</span> r)</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        {</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;          radius_sphere_ = r;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        }</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        setViewAngle (<span class="keywordtype">float</span> a)</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        {</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;          view_angle_ = a;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        }</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        loadOrGenerate (std::string &amp; dir, std::string &amp; model_path, <a class="code" href="classpcl_1_1rec__3d__framework_1_1_model.html">ModelT</a> &amp; model)</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        {</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;          std::stringstream pathmodel;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;          pathmodel &lt;&lt; dir &lt;&lt; <span class="stringliteral">&quot;/&quot;</span> &lt;&lt; model.class_ &lt;&lt; <span class="stringliteral">&quot;/&quot;</span> &lt;&lt; model.id_;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;          bf::path trained_dir = pathmodel.str ();</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;          model.views_.reset (<span class="keyword">new</span> std::vector&lt;pcl::PointCloud&lt;pcl::PointXYZ&gt;::Ptr&gt;);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;          model.poses_.reset (<span class="keyword">new</span> std::vector&lt;Eigen::Matrix4f, Eigen::aligned_allocator&lt;Eigen::Matrix4f&gt; &gt;);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;          model.self_occlusions_.reset (<span class="keyword">new</span> std::vector&lt;float&gt;);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;          model.assembled_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZ&gt;</a>);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;          uniform_sampling (model_path, 100000, *model.assembled_, model_scale_);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;          <span class="keywordflow">if</span> (bf::exists (trained_dir))</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;          {</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;            <span class="comment">//load views, poses and self-occlusions</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;            std::vector &lt; std::string &gt; view_filenames;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;            <span class="keywordtype">int</span> number_of_views = 0;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;            bf::directory_iterator end_itr;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;            <span class="keywordflow">for</span> (bf::directory_iterator itr (trained_dir); itr != end_itr; ++itr)</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;            {</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;              <span class="comment">//check if its a directory, then get models in it</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;              <span class="keywordflow">if</span> (!(bf::is_directory (*itr)))</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;              {</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;                <span class="comment">//check that it is a ply file and then add, otherwise ignore..</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;                std::vector &lt; std::string &gt; strs;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;                std::vector &lt; std::string &gt; strs_;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;<span class="preprocessor">#if BOOST_FILESYSTEM_VERSION == 3</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;                std::string file = (itr-&gt;path ().filename ()).<span class="keywordtype">string</span>();</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;                std::string file = (itr-&gt;path ()).filename ();</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;                boost::split (strs, file, boost::is_any_of (<span class="stringliteral">&quot;.&quot;</span>));</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;                boost::split (strs_, file, boost::is_any_of (<span class="stringliteral">&quot;_&quot;</span>));</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;                std::string extension = strs[strs.size () - 1];</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;                <span class="keywordflow">if</span> (extension == <span class="stringliteral">&quot;pcd&quot;</span> &amp;&amp; strs_[0] == <span class="stringliteral">&quot;view&quot;</span>)</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;                {</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;<span class="preprocessor">#if BOOST_FILESYSTEM_VERSION == 3</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;                  view_filenames.push_back ((itr-&gt;path ().filename ()).string());</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;                  view_filenames.push_back ((itr-&gt;path ()).filename ());</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;                  number_of_views++;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;                }</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;              }</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;            }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; view_filenames.size (); i++)</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;            {</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;              std::stringstream view_file;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;              view_file &lt;&lt; pathmodel.str () &lt;&lt; <span class="stringliteral">&quot;/&quot;</span> &lt;&lt; view_filenames[i];</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;              <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> ());</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;              pcl::io::loadPCDFile (view_file.str (), *cloud);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;              model.views_-&gt;push_back (cloud);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;              std::string file_replaced1 (view_filenames[i]);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;              boost::replace_all (file_replaced1, <span class="stringliteral">&quot;view&quot;</span>, <span class="stringliteral">&quot;pose&quot;</span>);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;              boost::replace_all (file_replaced1, <span class="stringliteral">&quot;.pcd&quot;</span>, <span class="stringliteral">&quot;.txt&quot;</span>);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;              std::string file_replaced2 (view_filenames[i]);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;              boost::replace_all (file_replaced2, <span class="stringliteral">&quot;view&quot;</span>, <span class="stringliteral">&quot;entropy&quot;</span>);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;              boost::replace_all (file_replaced2, <span class="stringliteral">&quot;.pcd&quot;</span>, <span class="stringliteral">&quot;.txt&quot;</span>);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;              <span class="comment">//read pose as well</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;              std::stringstream pose_file;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;              pose_file &lt;&lt; pathmodel.str () &lt;&lt; <span class="stringliteral">&quot;/&quot;</span> &lt;&lt; file_replaced1;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;              Eigen::Matrix4f pose;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;              PersistenceUtils::readMatrixFromFile (pose_file.str (), pose);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;              model.poses_-&gt;push_back (pose);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;              <span class="comment">//read entropy as well</span></div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;              std::stringstream entropy_file;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;              entropy_file &lt;&lt; pathmodel.str () &lt;&lt; <span class="stringliteral">&quot;/&quot;</span> &lt;&lt; file_replaced2;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;              <span class="keywordtype">float</span> entropy = 0;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;              PersistenceUtils::readFloatFromFile (entropy_file.str (), entropy);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;              model.self_occlusions_-&gt;push_back (entropy);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;            }</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;          }</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;          {</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;            <span class="comment">//load PLY model and scale it</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;            <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPLYReader&gt;</a> reader = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPLYReader&gt;::New</a> ();</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;            reader-&gt;SetFileName (model_path.c_str ());</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;            <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkTransform&gt;</a> trans = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkTransform&gt;::New</a> ();</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;            trans-&gt;Scale (model_scale_, model_scale_, model_scale_);</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;            trans-&gt;Modified ();</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;            trans-&gt;Update ();</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;            <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkTransformPolyDataFilter&gt;</a> filter_scale = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkTransformPolyDataFilter&gt;::New</a> ();</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;            filter_scale-&gt;SetTransform (trans);</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;            filter_scale-&gt;SetInputConnection (reader-&gt;GetOutputPort ());</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;            filter_scale-&gt;Update ();</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;            <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyData&gt;</a> mapper = filter_scale-&gt;GetOutput ();</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;            <span class="comment">//generate views</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;            <a class="code" href="classpcl_1_1apps_1_1_render_views_tesselated_sphere.html">pcl::apps::RenderViewsTesselatedSphere</a> render_views;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;            render_views.setResolution (resolution_);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;            render_views.setUseVertices (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;            render_views.setRadiusSphere (radius_sphere_);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;            render_views.setComputeEntropies (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;            render_views.setTesselationLevel (tes_level_);</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;            render_views.setViewAngle (view_angle_);</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;            render_views.addModelFromPolyData (mapper);</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;            render_views.setGenOrganized (gen_organized_);</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;            render_views.setCamPosConstraints (campos_constraints_func_);</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;            render_views.generateViews ();</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;            std::vector&lt;typename PointCloud&lt;PointInT&gt;::Ptr&gt; views_xyz_orig;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;            std::vector &lt; Eigen::Matrix4f, Eigen::aligned_allocator&lt;Eigen::Matrix4f&gt; &gt; poses;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;            std::vector&lt;float&gt; entropies;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;            render_views.getViews (views_xyz_orig);</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;            render_views.getPoses (poses);</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;            render_views.getEntropies (entropies);</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;            model.views_.reset (<span class="keyword">new</span> std::vector&lt;<span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointInT&gt;::Ptr</a>&gt; ());</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;            model.poses_.reset (<span class="keyword">new</span> std::vector&lt;Eigen::Matrix4f, Eigen::aligned_allocator&lt;Eigen::Matrix4f&gt; &gt; ());</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;            model.self_occlusions_.reset (<span class="keyword">new</span> std::vector&lt;float&gt; ());</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; views_xyz_orig.size (); i++)</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;            {</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;              model.views_-&gt;push_back (views_xyz_orig[i]);</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;              model.poses_-&gt;push_back (poses[i]);</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;              model.self_occlusions_-&gt;push_back (entropies[i]);</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;            }</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;            std::stringstream direc;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;            direc &lt;&lt; dir &lt;&lt; <span class="stringliteral">&quot;/&quot;</span> &lt;&lt; model.class_ &lt;&lt; <span class="stringliteral">&quot;/&quot;</span> &lt;&lt; model.id_;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;            this-&gt;createClassAndModelDirectories (dir, model.class_, model.id_);</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; model.views_-&gt;size (); i++)</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;            {</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;              <span class="comment">//save generated model for future use</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;              std::stringstream path_view;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;              path_view &lt;&lt; direc.str () &lt;&lt; <span class="stringliteral">&quot;/view_&quot;</span> &lt;&lt; i &lt;&lt; <span class="stringliteral">&quot;.pcd&quot;</span>;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;              pcl::io::savePCDFileBinary (path_view.str (), *(model.views_-&gt;at (i)));</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;              std::stringstream path_pose;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;              path_pose &lt;&lt; direc.str () &lt;&lt; <span class="stringliteral">&quot;/pose_&quot;</span> &lt;&lt; i &lt;&lt; <span class="stringliteral">&quot;.txt&quot;</span>;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;              pcl::rec_3d_framework::PersistenceUtils::writeMatrixToFile (path_pose.str (), model.poses_-&gt;at (i));</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;              std::stringstream path_entropy;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;              path_entropy &lt;&lt; direc.str () &lt;&lt; <span class="stringliteral">&quot;/entropy_&quot;</span> &lt;&lt; i &lt;&lt; <span class="stringliteral">&quot;.txt&quot;</span>;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;              pcl::rec_3d_framework::PersistenceUtils::writeFloatToFile (path_entropy.str (), model.self_occlusions_-&gt;at (i));</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;            }</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;            loadOrGenerate (dir, model_path, model);</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;          }</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;        }</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00258"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_mesh_source.html#a94dac36f45018d41d5b78b265c32a9a6">  258</a></span>&#160;        <a class="code" href="classpcl_1_1rec__3d__framework_1_1_mesh_source.html#a94dac36f45018d41d5b78b265c32a9a6">generate</a> (std::string &amp; training_dir)</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        {</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;          <span class="comment">//create training dir fs if not existent</span></div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;          createTrainingDir (training_dir);</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;          <span class="comment">//get models in directory</span></div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;          std::vector &lt; std::string &gt; files;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;          std::string start = <span class="stringliteral">&quot;&quot;</span>;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;          std::string ext = std::string (<span class="stringliteral">&quot;ply&quot;</span>);</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;          bf::path dir = path_;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;          getModelsInDirectory (dir, start, files, ext);</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;          models_.reset (<span class="keyword">new</span> std::vector&lt;ModelT&gt;);</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; files.size (); i++)</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;          {</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;            <a class="code" href="classpcl_1_1rec__3d__framework_1_1_model.html">ModelT</a> m;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;            this-&gt;getIdAndClassFromFilename (files[i], m.id_, m.class_);</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;            <span class="comment">//check which of them have been trained using training_dir and the model_id_</span></div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;            <span class="comment">//load views, poses and self-occlusions for those that exist</span></div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;            <span class="comment">//generate otherwise</span></div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;            std::cout &lt;&lt; files[i] &lt;&lt; std::endl;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;            std::stringstream model_path;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;            model_path &lt;&lt; path_ &lt;&lt; <span class="stringliteral">&quot;/&quot;</span> &lt;&lt; files[i];</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;            std::string path_model = model_path.str ();</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;            loadOrGenerate (training_dir, path_model, m);</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;            models_-&gt;push_back (m);</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;          }</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;        }</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;      };</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  }</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;}</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160; </div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* REC_FRAMEWORK_MESH_SOURCE_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; pcl::PointXYZ &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1apps_1_1_render_views_tesselated_sphere_html"><div class="ttname"><a href="classpcl_1_1apps_1_1_render_views_tesselated_sphere.html">pcl::apps::RenderViewsTesselatedSphere</a></div><div class="ttdoc">Class to render synthetic views of a 3D mesh using a tesselated sphere NOTE: This class should replac...</div><div class="ttdef"><b>Definition:</b> render_views_tesselated_sphere.h:28</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_mesh_source_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_mesh_source.html">pcl::rec_3d_framework::MeshSource</a></div><div class="ttdoc">Data source class based on mesh models</div><div class="ttdef"><b>Definition:</b> mesh_source.h:31</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_mesh_source_html_a94dac36f45018d41d5b78b265c32a9a6"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_mesh_source.html#a94dac36f45018d41d5b78b265c32a9a6">pcl::rec_3d_framework::MeshSource::generate</a></div><div class="ttdeci">void generate(std::string &amp;training_dir)</div><div class="ttdoc">Creates the model representation of the training set, generating views if needed</div><div class="ttdef"><b>Definition:</b> mesh_source.h:258</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_model_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_model.html">pcl::rec_3d_framework::Model&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_source_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_source.html">pcl::rec_3d_framework::Source</a></div><div class="ttdoc">Abstract data source class, manages filesystem, incremental training, etc.</div><div class="ttdef"><b>Definition:</b> source.h:83</div></div>
<div class="ttc" id="aclassvtk_smart_pointer_html"><div class="ttname"><a href="classvtk_smart_pointer.html">vtkSmartPointer</a></div><div class="ttdef"><b>Definition:</b> actor_map.h:50</div></div>
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